Revision 2:8c562a8fed36, committed 2014-09-12

Comitter:

Yihui Xiong

Date:

Fri Sep 12 09:28:14 2014 +0800

Parent:

1:1e0baaf91e96

Commit message:

update

Changed in this revision

--- a/I2Cdev.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.cpp	Fri Sep 12 09:28:14 2014 +0800
@@ -5,14 +5,8 @@
 
 #include "I2Cdev.h"
 
-#define useDebugSerial
 
-I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
-{
-
-}
-
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
+I2Cdev::I2Cdev(I2C &interface) : i2c(interface)
 {
 
 }
@@ -254,18 +248,31 @@
 
 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
 {
-    i2c.start();
-    i2c.write(devAddr<<1);
-    i2c.write(regAddr);
-    for(int i = 0; i < length; i++) {
-        i2c.write(data[i]);
+    int len = length + 1;
+    char *buf = (char*)malloc(len);
+    buf[0] = regAddr;
+    for (int i = 0; i < length; i++) {
+        buf[i + 1] = data[i];
     }
-    i2c.stop();
+    i2c.write(devAddr << 1 , buf, len);
+
+    free (buf);
     return true;
 }
 
 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
 {
+    int len = length * 2 + 1;
+    char *buf = (char*)malloc(len);
+    buf[0] = regAddr;
+    for (int i = 0; i < length; i++) {
+        uint16_t word = data[i];
+        buf[2*i + 1] = word >> 8;
+        buf[2*i + 2] = word & 0xFF;
+    }
+    i2c.write(devAddr << 1 , buf, len);
+
+    free (buf);
     return true;
 }
 

--- a/I2Cdev.h	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.h	Fri Sep 12 09:28:14 2014 +0800
@@ -9,16 +9,12 @@
 
 #include "mbed.h"
 
-#define I2C_SDA p28
-#define I2C_SCL p27
 
 class I2Cdev {
     private:
         I2C i2c;
-        Serial debugSerial;
     public:
-        I2Cdev();
-        I2Cdev(PinName i2cSda, PinName i2cScl);        
+        I2Cdev(I2C &interface);        
         
         int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
         int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
@@ -41,4 +37,4 @@
         static uint16_t readTimeout(void);
 };
 
-#endif
\ No newline at end of file
+#endif

--- a/MPU6050.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp	Fri Sep 12 09:28:14 2014 +0800
@@ -42,28 +42,20 @@
 
 #include "MPU6050.h"
 
-#define useDebugSerial
+#define LOG(args...)   // printf(args)     
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
 #define pgm_read_byte_near(x) (*(prog_uchar*)x)
 #define pgm_read_byte(x) (*(prog_uchar*)x)
 
-/** Default constructor, uses default I2C address.
- * @see MPU6050_DEFAULT_ADDRESS
- */
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
-{
-    devAddr = MPU6050_DEFAULT_ADDRESS;
-}
-
 /** Specific address constructor.
  * @param address I2C address
  * @see MPU6050_DEFAULT_ADDRESS
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050(I2C &i2c, uint8_t address) : i2Cdev(i2c)
 {
     devAddr = address;
 }
@@ -77,19 +69,14 @@
  */
 void MPU6050::initialize()
 {
-
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::initialize start\n");
-#endif
+    LOG("MPU6050::initialize start\n");
 
     setClockSource(MPU6050_CLOCK_PLL_XGYRO);
     setFullScaleGyroRange(MPU6050_GYRO_FS_250);
     setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
 
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::initialize end\n");
-#endif
+    LOG("MPU6050::initialize end\n");
 }
 
 /** Verify the I2C connection.
@@ -98,13 +85,12 @@
  */
 bool MPU6050::testConnection()
 {
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::testConnection start\n");
-#endif
+    LOG("MPU6050::testConnection start\n");
+    
     uint8_t deviceId = getDeviceID();
-#ifdef useDebugSerial
-    debugSerial.printf("DeviceId = %d\n",deviceId);
-#endif
+    
+    LOG("DeviceId = %d\n",deviceId);
+
     return deviceId == 0x34;
 }
 
@@ -3429,4 +3415,4 @@
 void MPU6050::setDMPConfig2(uint8_t config)
 {
     i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
\ No newline at end of file
+}

--- a/MPU6050.h	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.h	Fri Sep 12 09:28:14 2014 +0800
@@ -48,7 +48,7 @@
 
 #define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
 #define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_HIGH
 
 #define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
 #define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
@@ -405,10 +405,8 @@
 class MPU6050 {
     private:
         I2Cdev i2Cdev;
-        Serial debugSerial;
     public:
-        MPU6050();
-        MPU6050(uint8_t address);
+        MPU6050(I2C &i2c, uint8_t address = MPU6050_DEFAULT_ADDRESS);
 
         void initialize();
         bool testConnection();
@@ -991,4 +989,4 @@
         uint8_t buffer[14];
 };
 
-#endif /* _MPU6050_H_ */
\ No newline at end of file
+#endif /* _MPU6050_H_ */

--- a/helper_3dmath.h	Wed May 08 00:34:55 2013 +0000
+++ b/helper_3dmath.h	Fri Sep 12 09:28:14 2014 +0800
@@ -213,4 +213,4 @@
         }
 };
 
-#endif /* _HELPER_3DMATH_H_ */
\ No newline at end of file
+#endif /* _HELPER_3DMATH_H_ */